#include <cubic-interpolation.hh>
Public Member Functions | |
virtual | ~CubicInterpolation () |
CubicInterpolation (const std::string &name) | |
void | start (const double &duration) |
Start tracking. | |
void | reset () |
Reset state to 0 before starting a new motion. | |
virtual std::string | getDocString () const |
Documentation. | |
void | setSamplingPeriod (const double &period) |
Set sampling period of control discretization. | |
Protected Member Functions | |
virtual void | doStart (const double &duration) |
Vector & | computeSout (Vector &sout, const int &inTime) |
Vector & | computeSoutdot (Vector &sout, const int &inTime) |
Protected Attributes | |
dynamicgraph::Signal< Vector, int > | soutSOUT_ |
dynamicgraph::Signal< Vector, int > | soutdotSOUT_ |
dynamicgraph::SignalPtr < Vector, int > | initSIN_ |
dynamicgraph::SignalPtr < Vector, int > | goalSIN_ |
int | startTime_ |
double | samplingPeriod_ |
double | duration_ |
unsigned | state_ |
Vector | p0_ |
Vector | p1_ |
Vector | p2_ |
Vector | p3_ |
dynamicgraph::sot::tools::CubicInterpolation::~CubicInterpolation | ( | ) | [virtual] |
dynamicgraph::sot::tools::CubicInterpolation::CubicInterpolation | ( | const std::string & | name | ) |
References computeSout(), computeSoutdot(), goalSIN_, initSIN_, reset(), setSamplingPeriod(), soutdotSOUT_, soutSOUT_, and start().
Vector & dynamicgraph::sot::tools::CubicInterpolation::computeSout | ( | Vector & | sout, |
const int & | inTime | ||
) | [protected] |
References dynamicgraph::sot::tools::CubicInterpolationSE3::duration_, dynamicgraph::sot::tools::CubicInterpolationSE3::goalSIN_, dynamicgraph::sot::tools::CubicInterpolationSE3::initSIN_, dynamicgraph::sot::tools::CubicInterpolationSE3::p0_, dynamicgraph::sot::tools::CubicInterpolationSE3::p1_, dynamicgraph::sot::tools::CubicInterpolationSE3::p2_, dynamicgraph::sot::tools::CubicInterpolationSE3::p3_, dynamicgraph::sot::tools::CubicInterpolationSE3::position_, dynamicgraph::sot::tools::CubicInterpolationSE3::samplingPeriod_, dynamicgraph::sot::tools::CubicInterpolationSE3::soutdot_, dynamicgraph::sot::tools::CubicInterpolationSE3::soutdotSOUT_, dynamicgraph::sot::tools::CubicInterpolationSE3::startTime_, and dynamicgraph::sot::tools::CubicInterpolationSE3::state_.
Referenced by CubicInterpolation().
Vector & dynamicgraph::sot::tools::CubicInterpolation::computeSoutdot | ( | Vector & | sout, |
const int & | inTime | ||
) | [protected] |
References duration_, initSIN_, p1_, p2_, p3_, samplingPeriod_, startTime_, and state_.
Referenced by CubicInterpolation().
void dynamicgraph::sot::tools::CubicInterpolation::doStart | ( | const double & | duration | ) | [protected, virtual] |
std::string dynamicgraph::sot::tools::CubicInterpolation::getDocString | ( | ) | const [virtual] |
Documentation.
void dynamicgraph::sot::tools::CubicInterpolation::reset | ( | ) |
Reset state to 0 before starting a new motion.
References state_.
Referenced by CubicInterpolation().
void dynamicgraph::sot::tools::CubicInterpolation::setSamplingPeriod | ( | const double & | period | ) |
Set sampling period of control discretization.
References samplingPeriod_.
Referenced by CubicInterpolation().
void dynamicgraph::sot::tools::CubicInterpolation::start | ( | const double & | duration | ) |
double dynamicgraph::sot::tools::CubicInterpolation::duration_ [protected] |
Referenced by computeSoutdot(), and doStart().
dynamicgraph::SignalPtr< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::goalSIN_ [protected] |
Referenced by CubicInterpolation(), and doStart().
dynamicgraph::SignalPtr< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::initSIN_ [protected] |
Referenced by computeSoutdot(), CubicInterpolation(), and doStart().
Vector dynamicgraph::sot::tools::CubicInterpolation::p0_ [protected] |
Referenced by doStart().
Vector dynamicgraph::sot::tools::CubicInterpolation::p1_ [protected] |
Referenced by computeSoutdot(), and doStart().
Vector dynamicgraph::sot::tools::CubicInterpolation::p2_ [protected] |
Referenced by computeSoutdot(), and doStart().
Vector dynamicgraph::sot::tools::CubicInterpolation::p3_ [protected] |
Referenced by computeSoutdot(), and doStart().
double dynamicgraph::sot::tools::CubicInterpolation::samplingPeriod_ [protected] |
Referenced by computeSoutdot(), doStart(), and setSamplingPeriod().
dynamicgraph::Signal< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::soutdotSOUT_ [protected] |
Referenced by CubicInterpolation().
dynamicgraph::Signal< Vector, int > dynamicgraph::sot::tools::CubicInterpolation::soutSOUT_ [protected] |
Referenced by CubicInterpolation(), and doStart().
int dynamicgraph::sot::tools::CubicInterpolation::startTime_ [protected] |
Referenced by computeSoutdot(), and doStart().
unsigned dynamicgraph::sot::tools::CubicInterpolation::state_ [protected] |
Referenced by computeSoutdot(), doStart(), and reset().